Cascade active disturbance rejection control for quadrotor UAV

Xu, Lin‐Xing; Guo, Dong; Ma, Hongjun

doi:10.23919/chicc.2019.8866109

Cited by 5 publications

(5 citation statements)

References 25 publications

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“…In the abovementioned studies, some issues in the system were not addressed, such as parameters uncertainties (Aboudonia et al, 2015;Cai et al, 2019;Ma and Jiao, 2017;Yang et al, 2018;Liang et al, 2019;Xu et al, 2019) and controlling the complete quadrotor system (i.e. position and attitude) (Lotufo and Colangelo, 2019;Ma and Jiao, 2017;Yang et al, 2018;Xu et al, 2019). Motivated by the above unsolved issues, more can be addressed and analyzed using an NLPID-improved ADRC (IADRC) scheme.…”

Section: Motivations Of the Papermentioning

confidence: 99%

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Output tracking and feedback stabilization for 6-DoF UAV using an enhanced active disturbance rejection control

Najm

Ibraheem

Humaidi

et al. 2021

IJIUS

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PurposeThe hybrid control system of the nonlinear PID (NLPID) controller and improved active disturbance rejection control (IADRC) are proposed for stabilization purposes for a 6-degree freedom (DoF) quadrotor system with the existence of exogenous disturbances and system uncertainties.Design/methodology/approachIADRC units are designed for the altitude and attitude systems, while NLPID controllers are designed for the x−y position system on the quadrotor nonlinear model. The proposed controlling scheme is implemented using MATLAB/Simulink environment and is compared with the traditional PID controller and NLPID controller.FindingsDifferent tests have been done, such as step reference tracking, hovering mode, trajectory tracking, exogenous disturbances and system uncertainties. The simulation results showed the demonstrated performance and stability gained by using the proposed scheme as compared with the other two controllers, even when the system was exposed to different disturbances and uncertainties.Originality/valueThe study proposes an NLPID-IADRC scheme to stabilize the motion of the quadrotor system while tracking a specified trajectory in the presence of exogenous disturbances and parameter uncertainties. The proposed multi-objective Output Performance Index (OPI) was used to obtain the optimum integrated time of the absolute error for each subsystem, UAV quadrotor system energy consumption and for minimizing the chattering phenomenon by adding the integrated time absolute of the control signals.

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Section: Motivations Of the Papermentioning

confidence: 99%

“…The wind disturbance on quadrotor system is applied in Liang et al (2019), where the authors presented two control schemes based on ADRC and ADRC (LADRC) to deal with that disturbance. In Xu et al (2019), the authors designed and compared between two cascaded controls strategies (i.e. cascaded PID control and cascaded ADRC).…”

Section: Introductionmentioning

confidence: 99%

Output tracking and feedback stabilization for 6-DoF UAV using an enhanced active disturbance rejection control

Najm

Ibraheem

Humaidi

et al. 2021

IJIUS

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“…In the control design, a MIMO system-based disturbance estimation and control technique is proposed. The control structure is simpler than the ones decoupling the quad-rotor system into several single-input-singleoutput (SISO) subsystems [10], [11], [13]- [17], [19], [20], [42]- [48]. 2.…”

Section: Paper Scope and Contributionmentioning

confidence: 99%

“…In next, the rules (8) and (9), the output prediction (11), and the receding-horizon feedback correction are combined with formula (14) to derive our controller. Another one of our main results is given in Theorem 3.…”

Section: B the Proposed Predictive Optimal Controllermentioning

confidence: 99%

Disturbance Attenuation Predictive Optimal Control for Quad-Rotor Transporting Unknown Varying Payload

et al. 2020

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Quad-rotor is very suitable for payload transportation due to the merits of high maneuverability and free hovering. However, the unknown varying payloads can cause negative influences that act in forms of persistent disturbances and sudden changes, damaging flight performance especially the attitude stability seriously. Targeting the persistent disturbances, an entirely novel disturbance estimator (DE) which can estimate non-smooth disturbances in a highly accurate manner for feedback compensation is proposed in this paper. To deal with the sudden changes from prescribed references and the payloads that may induce too large overshoots and input surging, a type of predictive optimal controller, which considers tracking errors and their changing rates of a class of linear multiple-input-multiple-output systems, is developed. Simulation results show that the system enhanced by the DE has better control performance than the ones enhanced by the commonly used extended state observer or nonlinear disturbance observer. Compared with the typical control approaches, the proposed control scheme enables the quad-rotor attitude system more stable performance and more ideal inputs on both persistent disturbance and sudden change resisting during payload transportation. INDEX TERMS Quad-rotor, payload transportation, disturbance attenuation, predictive optimal control.

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“…Xu, X. et al designed a fuzzy self-turbulent control system based on adaptive variable load compensation. They used a fuzzy controller to adjust the parameters of the nonlinear state error feedback control law online in real time, solving the problem of the lack of online self-tuning of parameters in a self-turbulent controller [30]. Wang, B. et al designed an ADRC controller for a hydraulic two-cylinder drive mechanism and verified that the system using the ADRC exhibited higher displacement accuracy and better dynamic performance than the system using a PID or fuzzy PID controller, through simulation [31].…”

Section: Introductionmentioning

confidence: 99%

Research on a Three-Dimensional Fuzzy Active Disturbance Rejection Controller for the Mechanical Arm of an Iron Roughneck

Zhang

Liu

Yang³

et al. 2023

Processes

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In the position control of the mechanical arm of an iron roughneck (MAIR), a controller with high responsiveness, high accuracy, and high anti-interference capability is necessary. An MAIR consists of two proportional-valve-controlled single-extension (PVCSE) hydraulic cylinders, and a traditional proportional–integral–derivative (PID) controller cannot easily achieve the accuracy and robustness requirements of the hydraulic cylinders. In this paper, a three-dimensional fuzzy active disturbance rejection controller (TF-ADRC) is proposed for an MAIR, which adds a three-dimensional fuzzy module to a classical active disturbance rejection controller (ADRC) to adjust the controller output according to the tracking of differential deviation, deviation change rate, and deviation change acceleration rate. Firstly, the trajectory planning of the MAIR was carried out using the quintic polynomial interpolation method to improve the smoothness of the target trajectory. Then, the reliability of the established model was verified by experiments. Finally, the comprehensive performance of a PID controller, fuzzy PID controller, ADRC, and TF-ADRC were compared based on the AMESim-Simulink model. The system with the TF-ADRC exhibits higher position control accuracy and better anti-interference capability than the system with a PID or Fuzzy PID controller, and accuracy is higher compared with the common ADRC.

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Cascade active disturbance rejection control for quadrotor UAV

Cited by 5 publications

References 25 publications

Output tracking and feedback stabilization for 6-DoF UAV using an enhanced active disturbance rejection control

Output tracking and feedback stabilization for 6-DoF UAV using an enhanced active disturbance rejection control

Disturbance Attenuation Predictive Optimal Control for Quad-Rotor Transporting Unknown Varying Payload

Research on a Three-Dimensional Fuzzy Active Disturbance Rejection Controller for the Mechanical Arm of an Iron Roughneck

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